Abstract
Value-Based Communication Preservation (VBCP) is a behavior-based, computationally efficient approach to maintaining line-of-sight RF communication between members of robot teams in the context of other tasks. The goal of VBCP is, at each time step, to reactively choose a direction in which to move that provides the best communication quality of service with the rest of the team. VBCP uses information about other robots, real-time quality of service measurements and an a priori map of the environment to approximate an optimal direction in an efficient manner. Here, VBCP maintains communication between members of a robotic team while traversing an urban environment in formation. Quantitative and qualitative results are demonstrated in simulation and physical robot teams.
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Powers, M., Balch, T. (2007). Value-Based Communication Preservation for Mobile Robots. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_32
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DOI: https://doi.org/10.1007/978-4-431-35873-2_32
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
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